akahukas/rock-segmentation-dataset

Rock Segmentation Dataset for Excavator Rock-Picking Task

Original RGB	Segmentation Mask	Contour Overlay

This rock segmentation dataset was constructed as part of a Master's Thesis titled:
Evaluating Rock Position Estimation Pipeline Using 3D Sensors for Excavation Task

The dataset consists of images captured during the rock-picking task of a real excavator as an input. You can find further information and see the data in action at the Thesis Project Page

Dataset Structure

• Images: 1919
  • Training: 1403
  • Validation: 324
  • Training: 192
• Annotations: 1919
  • Training: 1403
  • Validation: 324
  • Training: 192
• Classes: 1
• Format: Ultralytics YOLO

Dataset Creation

The source data was collected to ROS 2 bag files. This dataset consists of image frames captured using the first-generation ZED camera. The frames have been extracted from a single collected ROS 2 topic. The images were annotated using the X-AnyLabeling tool, utilizing the SAM 2 model to create the labels.

Acknowledgements

• The thesis work has been completed in the Autonomous Mobile Machines Group, at Tampere University.
• The thesis work has been funded by the Horizon Europe Project XSCAVE under Grant 101189836.
• Thanks to Novatron Oy for providing access to the excavator and the data interface.

Citation

If you use this dataset, please cite the original thesis as the primary research source and this repository for the data artifact.

@mastersthesis{hakamaki2026thesis,
  author    = {Saku Hakamäki},
  title     = {Evaluating Rock Position Estimation Pipeline Using 3D Sensors for Excavation Task},
  school    = {Tampere University},
  year      = {2026},
  url       = {https://urn.fi/URN:NBN:fi:tuni-202604274316},
}

@misc{hakamaki2026dataset,
  author       = {Saku Hakamäki},
  title        = {Rock Segmentation Dataset from Excavator Rock-Picking Task},
  year         = {2026},
  publisher    = {Hugging Face},
  version      = {1.0.0},
  url          = {https://huggingface.co/datasets/akahukas/rock-segmentation-dataset}
}